Shutdown manager

Overview

This node accepts button operation input and controls shutdown. It also outputs to display the button operation status.

Input and Output

• Input

  • from button_output_selector
    • /shutdown_button [autoware_state_machine_msgs/msg/VehicleButton]:
      Shutdown button input. (this topic is remapped from input/shutdown_button.)

• Output

  • to delivery_reservation_lamp_manager
    • /shutdown_manager/state [shutdown_manager_msgs/msg/StateShutdown]:
      Output to shutdown state. (this topic is remapped from output/state.)

Node Graph

Launch Parameter description

ID	Name	Description
T0	time_required_to_release_button	Button hold down time[sec] required before shutdown is accepted.
T1	timeout_period_before_shutdown_aborts	Time[sec] given between accepting and executing shutdown (timeout after this time).

Shutdown state transition